Đang chuẩn bị liên kết để tải về tài liệu:
Recent Advances in Robust Control Theory and Applications in Robotics and Electromechanics Part 14

Tham khảo tài liệu 'recent advances in robust control theory and applications in robotics and electromechanics part 14', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Passivity Based Control for Permanent-Magnet Synchronous Motors 379 Deqe W2 qm qm R q U - L q 31 TA tT T- T rs r Dmqm - W qm q Rmqm q - Lvqm 32 ịT 1T where q qe qm I is the observer state qe qm represents the estimated current and estimated velocity respectively qe qe - qe qm qm - qm are the estimated current error and estimated velocity error where Le LT 0 Lv 0 33 The model 31 32 can be written under the following form D q C qm q Rq MU ệ-Lq 34 Where q qT qm J and L diag Le L v From the equation 12 and 34 we deduce the observer error dynamic __ _ _ . - __ D q C qm q R L q 03xi 35 In order to prove the asymptotic stability of the observer estimated error we choose the following desired energy error function 1 H q 1 qTD q 36 Taking the time derivative of Ho along the trajectory 35 we get H q -qT R L q 37 Since L IĨ 0 q 0 is asymptotically stable. Following the same procedure used in section II.2.1 we conclude that q f mo q 0 e 1 V t. 38 where mo Âmax D Anin D 0 - dT 0 We conclude that the observer 34 reconstructs asymptotically the current and velocity signals. Remark We can notice that the gain matrix L has the same effect than that of matrix K1 in 25 i. e L is the damping that is injected in the observer system to ensure the asymptotic stability of the observation error. 2.2.2.4 Combined Controller-Observer Design The desired dynamics when only rotor position is measurable are Dq W2 qm qm Req U 39 380 Recent Advances in Robust Control - Theory and Applications in Robotics and Electromechanics Dmfim - W2 qm qe Rmi - - km em 40 Where km 0. We have the following result The controller law becomes U De q W2 qm qm Reqe-K2ee 41 In order to establish the stability of the closed loop system with presence of the observer we consider equation of state error 35 . We get from 25 16 40 and 41 De G qm e N qm q 0 42 Where G . _ Re K2 02x1 3 qm -WT qm Rm km2 N qm Le2 01x2 -W2 qm 3 Rm lm2 Proposition 2 Consider the PMSM model 1 - 3 in closed